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<div class="textblock"><code>#include &lt;<a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>&gt;</code><br />
<code>#include &lt;iostream&gt;</code><br />
<code>#include &quot;<a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Dynamics/Quadruped.h</a>&quot;</code><br />
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<p><a href="../../d0/d3f/_gait_scheduler_8h_source.html">Go to the source code of this file.</a></p>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d28/struct_gait_data.html">GaitData&lt; T &gt;</a></td></tr>
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Enumerations</h2></td></tr>
<tr class="memitem:a59af7e48457ec99ac3c9b011e8708644"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644">GaitType</a> { <br />
&#160;&#160;<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a>, 
<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70">GaitType::STAND_CYCLE</a>, 
<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f">GaitType::STATIC_WALK</a>, 
<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d">GaitType::AMBLE</a>, 
<br />
&#160;&#160;<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc">GaitType::TROT_WALK</a>, 
<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d">GaitType::TROT</a>, 
<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16">GaitType::TROT_RUN</a>, 
<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef">GaitType::PACE</a>, 
<br />
&#160;&#160;<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42">GaitType::BOUND</a>, 
<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82">GaitType::ROTARY_GALLOP</a>, 
<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae">GaitType::TRAVERSE_GALLOP</a>, 
<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f">GaitType::PRONK</a>, 
<br />
&#160;&#160;<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a">GaitType::THREE_FOOT</a>, 
<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818">GaitType::CUSTOM</a>, 
<a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3">GaitType::TRANSITION_TO_STAND</a>
<br />
 }</td></tr>
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<h2 class="groupheader">Enumeration Type Documentation</h2>
<a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644"></a>
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          <td class="memname">enum <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644">GaitType</a></td>
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<p>Enumerated gait types. Preplanned gaits are defined. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81"></a>STAND&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70"></a>STAND_CYCLE&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f"></a>STATIC_WALK&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d"></a>AMBLE&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc"></a>TROT_WALK&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d"></a>TROT&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16"></a>TROT_RUN&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef"></a>PACE&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42"></a>BOUND&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82"></a>ROTARY_GALLOP&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae"></a>TRAVERSE_GALLOP&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f"></a>PRONK&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a"></a>THREE_FOOT&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818"></a>CUSTOM&#160;</td><td class="fielddoc">
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3"></a>TRANSITION_TO_STAND&#160;</td><td class="fielddoc">
</td></tr>
</table>

<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00011">11</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;                    {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">STAND</a>,</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70">STAND_CYCLE</a>,</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f">STATIC_WALK</a>,</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d">AMBLE</a>,</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc">TROT_WALK</a>,</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d">TROT</a>,</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16">TROT_RUN</a>,</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef">PACE</a>,</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42">BOUND</a>,</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82">ROTARY_GALLOP</a>,</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae">TRAVERSE_GALLOP</a>,</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f">PRONK</a>,</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a">THREE_FOOT</a>,</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818">CUSTOM</a>,</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3">TRANSITION_TO_STAND</a></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;};</div><div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef">GaitType::PACE</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d">GaitType::AMBLE</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3">GaitType::TRANSITION_TO_STAND</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42">GaitType::BOUND</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70">GaitType::STAND_CYCLE</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a">GaitType::THREE_FOOT</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16">GaitType::TROT_RUN</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818">GaitType::CUSTOM</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae">GaitType::TRAVERSE_GALLOP</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc">GaitType::TROT_WALK</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f">GaitType::STATIC_WALK</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d">GaitType::TROT</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f">GaitType::PRONK</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82">GaitType::ROTARY_GALLOP</a></div></div>
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